Figure 1 700 600 400 100 250 Consider an idealization of a problem where a robot
ID: 3909807 • Letter: F
Question
Figure 1 700 600 400 100 250 Consider an idealization of a problem where a robot has to navigate its way arouned obstacles. The goal is to find the shortest distance between two points on a plane that has convex polygonal obstacles. Figure 1 shows an example scene with seven polygonal obstacles where the robot has to move from the point start to the point end Convince yourself that the shortest path from one polygon vertex to any other in the scene consists of straight-line segments joining some of the vertices of the polygon. Note that the start and the end goal points may be considered polygons of size 0) Present the solutions for the following scene using the A aigonthm(using MATLAB or python) l Polygon 1: (220, 616), (220 666), (251, 670). (272 647) Polygon 2: ((341,655), (359, 667), (374.651), (366 577) Polygon 3 ((311, 530), (311.559), (339 578), (361, 560), (361, 528), (336, 516) Polygon 4 (105, 628), (151, 670) 180 629). (156, 577), (113.587)) Polygon 5: (118, 517. 245.512, 245 S7. (118, 557)) Polygon 6 (280, 583), (333, 583, (333,665) (280, 665) Polygon 7 (252 594). (290 562), (264 538) Start (110 650) End (380, 600)Explanation / Answer
* It is complete; it will always find a solution if it exists.
* It can use a heuristic to significatly speed up the process
* It can have variable node to node movement costs. This enables things like certain nodes or paths being more difficult to traverse,
* It can search in many different directions if desired.
Pseudocode
This pseudocode allows for 8-way directional movement.
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